In-tunnel electric equipment energy complementing method based on mobile power conversion equipment and related device

Abstract

The invention discloses an in-tunnel electric equipment energy complementing method based on mobile power conversion equipment and a related device, and belongs to the technical field of power conversion equipment.The method comprises the steps that power conversion information of the in-tunnel electric equipment is obtained, and the power conversion information comprises power conversion requirements and power conversion positions; the mobile battery replacement equipment loaded with the fully-charged battery on the bracket mechanism is controlled to run to the battery replacement position where the electric equipment with the battery replacement requirement is located in the tunnel; the mobile battery replacing equipment is controlled to be matched with the electric equipment for operation, and a power-deficient battery in a battery box of the electric equipment is replaced with a fully-charged battery on the bracket mechanism; controlling the mobile battery replacement equipment loaded with the power-lack battery on the bracket mechanism to run to a preset energy complementing station outside the tunnel; the mobile battery replacing equipment is controlled to send the power-deficient battery on the bracket mechanism to the energy complementing station for charging, the special mobile battery replacing equipment for the tunnel can meet the battery replacing requirement of a narrow tunnel space, multiple operators do not need to complete the battery replacing work together, manpower is effectively saved, and the practicability is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of battery replacement equipment, and in particular relates to a method for replenishing energy for electric equipment in a tunnel based on mobile battery replacement equipment and related devices. Background Art

[0002] When constructing long and deep tunnels with small working sections and long ventilation distances, the operating efficiency of traditional fuel-powered equipment drops significantly, and there are safety hazards such as "competing with people for oxygen" and harmful gatherings. Electric equipment can solve this problem and has therefore been widely used. Electric equipment for tunnel construction is rechargeable. After the energy is exhausted in the tunnel, it needs to be driven to the tunnel entrance to use fixed charging piles for charging and recharging. After the energy is recharged, it can be driven into the tunnel to continue working. Going back and forth in the tunnel generates non-operating energy consumption, reduces working time, affects working efficiency and the passage of other vehicles in the narrow space of the tunnel, and cannot effectively solve the problem of insufficient endurance of pure electric equipment when tunnel operations are moving forward.

[0003] Studying a mobile battery replacement and energy replenishment method suitable for "vehicle-battery separation" in tunnels is an effective way to solve the above problems. The existing technology communicates with the mobile battery replacement equipment and mobile energy equipment at each battery replacement location through the battery replacement cloud platform. The mobile battery replacement equipment and mobile energy equipment are used to replace the battery of the battery replacement vehicle at any battery replacement location. By receiving the battery replacement vehicle information sent by any mobile battery replacement equipment, if the battery replacement vehicle information is legal, a battery replacement instruction is sent to the mobile battery replacement equipment, so that the mobile battery replacement equipment and mobile energy equipment perform the battery replacement task for the battery replacement vehicle, and at the same time monitor the remaining energy of the mobile energy equipment at each battery replacement location. When the remaining energy of the mobile energy equipment meets the energy replenishment conditions, the available mobile energy equipment is dispatched to move to the battery replacement location.

[0004] The above scheme requires two types of equipment, mobile battery exchange equipment and mobile energy equipment, to exchange batteries for the vehicles to be exchanged. However, the mobile battery exchange equipment described in the scheme does not have the ability to carry on-board batteries. At least two equipment operators are required to implement the above method. There are many equipment and personnel on standby, and the economy of battery exchange is poor. Summary of the invention

[0005] The present invention provides a method, system and storage medium for replenishing electric equipment in a tunnel based on a mobile battery exchange device. By using the tunnel-specific mobile battery exchange vehicle disclosed in Chinese invention patent application No. 2023117349589, the batteries of electric equipment in a low-power state in the tunnel are replaced, and the low-power batteries are transported to the energy replenishment station outside the tunnel for centralized charging, replenishment and management. There is no need for multiple operators and multiple operating equipment, thus realizing a more economical "vehicle-battery separation" battery replacement method.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In the first aspect, the present invention provides a method for replenishing energy for electric equipment in a tunnel based on a mobile battery replacement device, wherein the mobile battery replacement device comprises: a chassis; a bracket mechanism, arranged on the chassis, for accommodating at least two batteries; an arm system, arranged at the rear end of the chassis, for transporting batteries between the chassis and the electric equipment; a gripper system, arranged at the rear end of the arm system, for grabbing batteries; the energy replenishment method comprises: Obtaining battery replacement information of electric equipment in the tunnel, wherein the battery replacement information includes battery replacement demand and battery replacement location; Control the mobile battery-swapping device with fully-charged batteries on the bracket mechanism to travel to the battery-swapping position where the electric equipment in need of battery-swapping is located in the tunnel; Control the mobile battery exchange equipment to work in coordination with the electric equipment to replace the depleted battery in the battery box of the electric equipment with the fully charged battery on the bracket mechanism; Control the mobile battery replacement device carrying the low-power battery on the bracket mechanism to travel to a preset energy replenishment station outside the tunnel; Control the mobile battery exchange equipment to send the low-power batteries on the bracket mechanism to the energy charging station for charging.

[0007] Optionally, the obtaining of the battery replacement information of the electric equipment in the tunnel includes: Establish a communication link between the mobile battery exchange equipment outside the tunnel and the electric equipment inside the tunnel; Control the electric device to send the battery replacement information through the communication link, and control the mobile battery replacement device to receive the battery replacement information.

[0008] Optionally, the control bracket mechanism drives the mobile battery exchange device with a fully charged battery to a battery exchange position where an electric device with a battery exchange demand is located in the tunnel, including: Control the mobile battery exchange equipment to transfer the fully charged batteries in the charging station to the bracket mechanism; Planning a driving path of the mobile battery swapping device according to the battery swapping information, wherein the driving path includes at least one battery swapping location where an electric device with a battery swapping demand is located; The mobile battery exchange device is controlled to travel along the driving path and stop at the battery exchange position, and the mobile battery exchange device is aligned with the rear of the electric device.

[0009] Optionally, the mobile battery exchange device is controlled to cooperate with the electric device to replace the depleted battery in the battery box of the electric device with the fully charged battery on the bracket mechanism, including: according to the power on and off status of the electric device, information is exchanged between the electric device battery exchange controller and the mobile battery exchange device controller, and the battery box of the electric device is controlled to unlock / lock to cooperate with the mobile battery exchange device to perform the battery exchange operation, the depleted battery in the battery box of the electric device is transferred to the bracket mechanism, and the fully charged battery on the bracket mechanism is transferred to the battery box of the electric device.

[0010] Optionally, when the electric device is in a powered-on state, the electric device battery replacement controller interacts with the mobile battery replacement device controller to control the unlocking / locking of the battery box of the electric device to cooperate with the mobile battery replacement device to perform the battery replacement operation, including: Send a battery replacement command to the depleted battery on the electric equipment through the electric equipment cab operation panel; Receive the battery replacement command through the electric equipment vehicle controller and perform high-voltage power reduction; Send an unlocking command to the electric equipment battery replacement controller through the electric equipment vehicle controller to control the battery box to unlock; After unlocking is completed, the unlocked status is fed back to the mobile battery swapping device through the electric equipment battery swapping controller; After receiving the unlocked signal, the battery swap operation is performed through the mobile battery swap device controller; After the battery replacement operation is completed, the electric equipment vehicle controller sends a locking command to the electric equipment battery replacement controller to control the battery box to lock; After locking is completed, the locked status is fed back to the mobile battery swapping device through the electric equipment battery swapping controller, and the battery swapping is completed.

[0011] Optionally, when the electric device is in a power-off state, the electric device battery replacement controller interacts with the mobile battery replacement device controller to control the unlocking / locking of the battery box of the electric device to cooperate with the mobile battery replacement device to perform the battery replacement operation, including: Build a wireless local area network between the electric equipment battery replacement controller and the mobile battery replacement equipment controller; Sending an unlocking condition identification signal to a mobile battery swapping device controller via an electric device battery swapping controller; Receive the unlocking permission signal through the mobile battery swapping device controller, and send an unlocking instruction to the electric device battery swapping controller to control the battery box to unlock; After unlocking is completed, the unlocked status is fed back to the mobile battery swapping device through the electric equipment battery swapping controller; After receiving the unlocked signal, the battery swap operation is performed through the mobile battery swap device controller; After the battery swap operation is completed, the mobile battery swap device controller sends a locking command to the electric device battery swap controller to control the battery box to lock; After locking is completed, the locked status is fed back to the mobile battery swapping device through the electric equipment battery swapping controller, and the battery swapping is completed.

[0012] Optionally, performing the battery swapping operation by moving the battery swapping device controller includes: The arm system and the gripper system in the transport state are controlled to rotate by the mobile battery exchange equipment controller, so that the arm system is located outside the end of the chassis, and the gripper system is located directly above the exhausted battery in the battery box of the electric equipment. The gripper system is controlled to grab the exhausted battery, and the arm system is controlled to lift the exhausted battery to be separated from the electric equipment. The arm system in the transport state is located inside the end of the chassis; The arm system and the gripper system are controlled to rotate by the mobile battery exchange equipment controller, so that the low-power battery is located directly above the empty battery position of the bracket mechanism and is suitable for being placed in the empty battery position of the bracket mechanism, and the gripper system is controlled to release the low-power battery to the empty battery position of the bracket mechanism; The mobile battery exchange equipment controller controls the rotation of the bracket mechanism in the transport state so that the fully charged battery on the bracket mechanism is located directly below the gripper system, controls the gripper system to grab the fully charged battery, and controls the arm system to lift the fully charged battery to detach from the bracket mechanism, wherein the width direction of the battery position of the bracket mechanism in the transport state is consistent with the vehicle length direction; The arm system and the gripper system are controlled to rotate by the mobile battery exchange equipment controller, so that the fully charged battery is located directly above the battery position in the battery box of the electric equipment and is adapted to be placed in the battery position in the battery box, and the gripper system is controlled to release the fully charged battery to the battery position in the battery box of the electric equipment; The mobile battery swapping equipment controller controls the arm system, gripper system and bracket mechanism to rotate back to the transport state, and the battery swapping operation is completed.

[0013] Optionally, a charger for charging batteries is pre-installed in the charging station.

[0014] In a second aspect, the present invention provides an in-tunnel electric equipment energy replenishment system based on a mobile battery exchange device, wherein the mobile battery exchange device comprises: a chassis; a bracket mechanism, arranged on the chassis, for accommodating at least two batteries; an arm system, arranged at the rear end of the chassis, for transporting batteries between the chassis and the electric equipment; a gripper system, arranged at the rear end of the arm system, for grabbing batteries; the energy replenishment system comprises: Battery exchange communication module: used to obtain battery exchange information of electric equipment in the tunnel, wherein the battery exchange information includes battery exchange demand and battery exchange location; Battery swapping path planning module: used to control the mobile battery swapping device with fully charged batteries on the bracket mechanism to travel to the battery swapping position where the electric equipment with battery swapping needs is located in the tunnel; Battery replacement operation module: used to control the coordinated operation of the mobile battery replacement equipment and the electric equipment, and replace the depleted battery in the battery box of the electric equipment with the fully charged battery on the bracket mechanism; Energy replenishment path planning module: used to control the mobile battery replacement equipment with low-power batteries on the bracket mechanism to travel to the preset energy replenishment station outside the tunnel; Battery charging module: used to control the mobile battery exchange equipment to send the low-power batteries on the bracket mechanism to the charging station for charging.

[0015] In a third aspect, the present invention provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for recharging electric equipment in a tunnel based on a mobile battery exchange device as described in any step of the first aspect is implemented.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the electric equipment with battery replacement demand in the tunnel is replaced by the mobile battery replacement equipment dedicated to the tunnel, so that the electric equipment does not need to travel to the fixed battery replacement station for battery replacement, and there is no need to build a fixed battery replacement station with large investment. This kind of "vehicle-battery separation" mobile battery replacement and energy replenishment method is flexible and practical, and effectively solves the current problems of insufficient cruising range of electric equipment, long charging time, and difficulty in ensuring charging safety in tunnels. It is very suitable for short-term and temporary tunnel construction application scenarios, and under the coordinated action of the boom system, the gripper system and the bracket mechanism, it can meet the battery replacement needs of narrow tunnel spaces. Only one operator is needed to complete the battery replacement and energy replenishment operations, which effectively saves manpower and has strong practicality. When replacing the battery, the electric equipment and the mobile battery replacement equipment can automatically establish a local area network to realize information exchange between the mobile battery replacement equipment and the electric equipment. When replacing the battery, the electric equipment user does not need to perform auxiliary operations such as unlocking / locking the battery. When the electric equipment user is not there, the battery replacement and energy replenishment operations can still be completed, which has strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure is a flow chart of a method for replenishing energy for electric equipment in a tunnel based on a mobile battery exchange device in one embodiment of the present invention;

[0018] Figure 2 The figure shows a schematic diagram of the structure of two vehicles, a mobile battery exchange device and an electric device, in position in one embodiment of the present invention;

[0019] Figure 3 The figure shows a flow chart of information interaction between an electric device and a mobile battery exchange device in a power-on and power-off state in one embodiment of the present invention;

[0020] Figure 4The figure shows a flow chart of controlling a mobile battery exchange device to exchange battery by using a mobile battery exchange device remote control in an embodiment of the present invention.

[0021] In the figure: 1. Boom system; 2. Gripper system; 3. Low-charged battery; 4. Bracket mechanism; 5. Fully-charged battery. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0025] Example 1

[0026] like Figure 1 As shown, this embodiment provides a method for replenishing energy for electric equipment in a tunnel based on a mobile battery replacement device, wherein the mobile battery replacement device comprises: a chassis; a bracket mechanism 4, arranged on the chassis, for accommodating at least two batteries; an arm system 1, arranged at the rear end of the chassis, for transporting batteries between the chassis and the electric equipment; a gripper system 2, arranged at the rear end of the arm system, for grabbing batteries; the energy replenishment method comprises: Obtaining battery replacement information of electric equipment in the tunnel, wherein the battery replacement information includes battery replacement demand and battery replacement location; Control the mobile battery exchange device carrying the fully charged battery 5 on the bracket mechanism 4 to travel to the battery exchange position where the electric device with battery exchange demand is located in the tunnel; Control the mobile battery exchange device to work in coordination with the electric device to replace the low-power battery 3 in the battery box of the electric device with the fully-charged battery 5 on the bracket mechanism 4; Control the mobile battery replacement device carrying the low-power battery 3 on the bracket mechanism 4 to travel to a preset energy replenishment station outside the tunnel; Control the mobile battery exchange equipment to send the low-power battery 3 on the bracket mechanism 4 to the energy charging station for charging.

[0027] When an electric device runs out of power in a tunnel, a tunnel-specific mobile battery exchange device carries a fully charged battery to the location of the electric device in the tunnel, removes the deflated battery from the electric device, replaces it with a fully charged battery, and then transports the deflated battery to a fixed charging station outside the tunnel. The charger in the charging station is used to charge and replenish the battery, so that the electric device does not need to travel to a fixed battery exchange station for battery exchange. Only one operator is needed to complete the battery exchange and replenishment operations, which is highly economical and practical.

[0028] Example 2

[0029] Based on Example 1, this example also makes the following design.

[0030] like Figure 2 As shown, the electric equipment energy replenishment method provided in this embodiment is divided into the following steps: Step 1: The electric device submits information on battery replacement requirements, and the mobile battery replacement device receives the battery replacement instruction; Step 2: The mobile battery exchange device transports the fully charged battery 5 and drives to the designated battery exchange position of the electric device in the tunnel; Step 3: Use the electric device battery replacement controller to realize information interaction between the mobile battery replacement device and the electric device, and control the battery box to automatically unlock / lock, so as to cooperate with the mobile battery replacement device to replace the low-power battery 3 in the battery box with a fully-charged battery 5; Step 4: The mobile battery exchange equipment transports the depleted battery 3 to the fixed energy charging station outside the tunnel; Step 5: Use mobile battery exchange equipment to place the depleted battery 3 at the charging station for centralized charging and management, waiting to enter the next cycle.

[0031] There are many ways for electric equipment to propose battery replacement demand information in step 1. When there is no network or poor network signal in the tunnel, the electric equipment user can communicate with the mobile battery replacement equipment user through a phone or walkie-talkie to inform the battery replacement time and location. This method is practical and economical and has universal applicability. When there is network in the tunnel, the electric equipment user can send the battery replacement demand through a mobile phone application. The mobile battery replacement equipment user can view the current location, remaining power and other information of the electric equipment through the terminal receiver. When multiple electric equipment are operating at the same time, the mobile battery replacement equipment user can reasonably arrange the battery replacement sequence according to the remaining power of the electric equipment and the distance, and use navigation to directly reach the location of the electric equipment for battery replacement, which is convenient and fast. It solves the limitation of the existing technology that the battery replacement cloud platform needs to be used for network communication before the battery replacement operation to determine whether the battery replacement vehicle information is legal, and the resulting in the inability to be applied to the scene where there is no network or poor network signal in the tunnel.

[0032] In this embodiment, in a network environment, the user of the mobile battery swap device can monitor the electric device in real time through a mobile phone application, and view information such as the current location of the electric device and the battery level. When the battery level is lower than the safety threshold, the user of the mobile battery swap device can proactively arrange the battery swap operation in advance based on the location displayed on the mobile phone application without the electric device actively proposing battery swap demand information, thereby avoiding extra waiting time incurred by the user of the electric device due to forgetting to propose a battery swap demand, thereby improving the operating efficiency of the electric equipment.

[0033] Before the mobile battery exchange equipment transports the fully charged battery 5 in step 2, the user of the mobile battery exchange equipment must first judge and select the fully charged battery 5 according to the battery charging status in the energy charging station outside the tunnel, and use the mobile battery exchange equipment remote control to control the mobile battery exchange equipment to lift the fully charged battery 5 onto the bracket mechanism 4 carried by the mobile battery exchange equipment.

[0034] In this embodiment, the fully charged battery 5 transported by the mobile battery exchange equipment must have the same information as the depleted battery 3 of the electric device, that is, the battery must be of the same manufacturer and model, etc. Before the battery exchange, there is no need to authenticate the depleted battery 3 and the fully charged battery 5 to determine whether they are the same type of battery to meet the battery exchange prerequisite. Generally, in a battery exchange application scenario, especially in places where there is no network or the network signal is poor, it is necessary to achieve battery standardization for different devices, that is, the same type of battery can be used for different types of electric devices, so that the number of spare batteries can be reduced to reduce procurement costs, and there is no need to match the information of the depleted battery 3 and the fully charged battery 5, eliminating the trouble of being unable to exchange batteries due to mismatched battery information.

[0035] It should be added that when multiple electric devices need to be replaced and recharged at the same time at the same location or at a similar distance, the mobile battery replacement equipment in step 2 can simultaneously transport multiple groups of fully charged batteries 5 to improve the battery replacement efficiency, and empty battery positions must be reserved on the bracket mechanism 4 of the mobile battery replacement equipment so that when the battery replacement operation is carried out in the tunnel, the low-power battery 3 on the electric device can be first placed on the empty battery position of the bracket mechanism 4 of the mobile battery replacement equipment.

[0036] like Figure 2 As shown, when the mobile battery exchange equipment and the electric equipment are in place, keep the rear ends aligned; Figure 3 As shown, in step 3, depending on whether the electric device is in a powered-on state, there are two operation modes.

[0037] 1. When the user of the electric equipment is next to the equipment and the equipment is powered on: (1) Operate the operating panel screen in the cab of the electric equipment to send a battery replacement instruction to the depleted battery on the electric equipment; (2) After receiving the battery replacement command, the electric equipment vehicle controller VCU starts the power-off process and completes the high-voltage power-off; (3) The electric equipment vehicle controller VCU sends an unlocking command to the electric equipment battery replacement controller. After receiving the unlocking command, the electric equipment battery replacement controller controls the battery locking mechanism to perform the unlocking action; (4) After unlocking is completed, the locking status is fed back to the mobile battery swapping device; (5) After the user of the mobile battery swapping device receives an unlocked signal from the screen of the mobile battery swapping device remote control, he / she operates the mobile battery swapping device remote control to perform the battery swapping operation; (6) When a fully charged battery is placed on the electric device, the battery swap connector on the electric device automatically determines whether the battery is in place and displays it on the screen of the electric device operation panel. If it is not in place, feedback is given to the mobile battery swap device to continue the battery swap operation; if it is in place, the electric device vehicle controller VCU sends a locking command to the electric device battery swap controller. After receiving the locking command, the electric device battery swap controller controls the battery locking mechanism to perform the locking action; (7) After locking is completed, the locking status is fed back to the mobile battery swapping device and the battery swapping is completed.

[0038] 2. When the user of the electric equipment is not next to the equipment and the equipment is powered off: (1) The electric equipment battery replacement controller triggers the virtual WIFI, and the mobile battery replacement device remote control triggers the virtual WIFI, automatically building a wireless LAN between the two devices; (2) The electric device battery replacement controller sends an identification signal to the mobile battery replacement device remote control to inform the mobile battery replacement device user whether the current electric device meets the unlocking conditions; (3) After the user of the mobile battery swapping device receives the unlocking permission signal from the remote control screen, he operates the mobile battery swapping device remote control to send an unlocking command to the electric device battery swapping controller; (4) After receiving the unlocking command, the electric equipment battery replacement controller controls the battery locking mechanism to perform the unlocking action; (5) After unlocking is completed, the electric equipment battery replacement controller feeds back the locking status to the mobile battery replacement device; (6) After the user of the mobile battery swapping device receives the unlocked signal from the remote control screen, he / she operates the remote control of the mobile battery swapping device to perform the battery swapping operation; (7) After the battery swap is completed, operate the remote control of the mobile battery swap device to send a locking command to the battery swap controller of the electric device; (8) After receiving the locking command, the electric equipment battery replacement controller controls the battery locking mechanism to perform the locking action; (9) After locking is completed, the electric equipment battery replacement controller feeds back the locking status to the mobile battery replacement device, and the battery replacement is completed.

[0039] In this embodiment, the electric equipment battery replacement controller is a bridge device between the electric equipment and the mobile battery replacement device, which plays the role of building a bridge. The electric equipment battery replacement controller and the electric equipment vehicle controller VCU are connected through a physical interface for information transmission, and the electric equipment vehicle controller VCU and the battery management system BMS on the electric equipment are connected through a physical interface for information transmission. In this way, the fault status and unlocking status of the battery can be transmitted to the mobile battery replacement device through the electric equipment battery replacement controller, and the mobile battery replacement device can judge whether the battery replacement action can be performed based on this.

[0040] In this embodiment, Figure 4 As shown in the figure, in the tunnel, when the two vehicles are in place, the process of the mobile battery swap device user operating the mobile battery swap device remote control to replace the battery of the electric device is as follows: (1) Operate the mobile battery swap equipment arm system 1 to rotate 180° in a clockwise (or counterclockwise) direction to the rear side of the mobile battery swap equipment, and simultaneously operate the mobile battery swap equipment gripper system 2 to rotate until its length direction is parallel to the length direction of the low-power battery 3 on the electric device to be replaced, so that the gripper system 2 is located directly above the low-power battery 3; operate the gripper system 2 to complete the gripping of the low-power battery 3 frame by the gripping part of the gripper system 2 and lock it reliably; operate the bracket mechanism 4 to rotate 90° to ensure that the length direction of the fully charged battery 5 on it is parallel to the length direction of the mobile battery swap equipment; (2) operating the gripping system 2 to shrink the steel wire rope of the gripping system 2 until the gripping system 2 and the arm system 1 change from a flexible connection to a rigid connection, and operating the arm system 1 to lift the depleted battery 3, so that the feeding battery 3 is completely separated from the electric equipment to be replaced, to ensure that the subsequent operation process does not interfere with the electric equipment to be replaced; (3) Operate the arm system 1 to rotate 180° counterclockwise (or clockwise), and simultaneously operate the gripper system 2 to rotate until the length direction of the low-power battery 3 is parallel to the length direction of the mobile battery exchange equipment, so that the low-power battery 3 is located directly above the empty battery position of the bracket mechanism 4; (4) Operate the gripper system 2, so that the steel wire rope of the gripper system 2 is slowly lowered to the bottom of the low-power battery 3 and is in full contact with the bracket mechanism 4, and the clamping part of the gripper system 2 is unlocked from the frame of the low-power battery 3. At this point, the low-power battery 3 is in place; (5) operating the gripping system 2 so that the steel wire rope of the gripping system 2 is slowly retracted and lifted to a certain height above the top of the low-charge battery 3, and operating the bracket mechanism 4 to rotate 180° in a clockwise (or counterclockwise) direction so that the fully-charged battery 5 is located directly below the gripping system 2; (6) Operate the gripper system 2 to complete the gripping of the fully-charged battery 5 frame by the gripping part of the gripper system 2 and lock it securely; (7) operating the gripper system 2 to shrink the steel wire rope of the gripper system 2 until the gripper system 2 and the boom system 1 change from a flexible connection to a rigid connection, and operating the boom system 1 to lift the fully-charged battery 5 until the fully-charged battery 5 is completely separated from the bracket mechanism 4; (8) Operate the arm system 1 to rotate 180° in a clockwise (or counterclockwise) direction, and synchronously operate the gripper system 2 to rotate, so that the length direction of the fully charged battery 5 is parallel to the length direction of the battery position of the electric device to be replaced, and is located directly above the battery position of the electric device to be replaced; (9) Operate the gripper system 2 so that the steel wire rope of the gripper system 2 is slowly lowered to the bottom of the fully-charged battery 5 and is in full contact with the battery position of the electric device to be replaced, and is securely locked, and at the same time, the fully-charged battery 5 is unlocked from the gripper system 2. At this point, the device to be replaced is in a fully-charged state; (10) Operate the gripper system 2 to completely detach the gripper system 2 from the fully charged battery 5 to ensure that the subsequent operation process does not interfere with the electric equipment to be replaced; operate the arm system 1 to rotate 180° in the counterclockwise (or clockwise) direction, and synchronously operate the gripper system 2 to rotate until the arm system 1 and the gripper system 2 are in the transportation state; operate the bracket mechanism 4 to rotate 90° counterclockwise (or clockwise), and the mobile battery replacement equipment is in the transportation state, and the battery replacement is completed.

[0041] In this embodiment, in step 4, the mobile battery exchange device carries the deflated battery 3 replaced from the electric device, and transports the deflated battery 3 to the charging station outside the tunnel, and refers to the operating method of steps (6)-(10) of operating the mobile battery exchange device remote control to replace the battery of the electric device, and places the deflated battery 3 on the designated charging device of the charging station.

[0042] In this embodiment, in step 5, a charger is installed in the charging station, and the depleted battery is charged and recharged by the charger. Compared with the traditional fixed battery swap station, the charging station can avoid the cost of infrastructure construction, and is very suitable for short-term, temporary construction scenarios such as tunnel construction, with low investment cost.

[0043] It should be noted that the two prerequisites for battery charging are a charging port and synchronous heat dissipation and cooling. When charging and replenishing energy in a traditional fixed battery swap station, the battery swap station is equipped with a charging base and a cooling device, and the low-power battery 3 can be directly placed on the charging base for charging and cooling. Therefore, the battery itself does not need to be equipped with a charging port and self-circulating cooling capabilities. Instead, a charger is used for charging and replenishing energy. Because the charging gun of the charger has been standardized, and the charger cannot directly dissipate heat for the battery, the battery that is directly charged and replenished by the charger itself needs to have a charging port and a cooling system. After placing the battery on the charging device of the energy replenishment station using a mobile battery swap device, the charging gun on the charger can be directly inserted into the charging port of the battery to complete the charging and replenishing. There is no need for the civil engineering costs required for the construction of a fixed battery swap station, which effectively reduces the initial investment cost. It is very suitable for the application scenario of battery replacement and replenishment of electric equipment where the number of battery replacements is less than that of commercial vehicles.

[0044] In this embodiment, when there is no battery swapping task, the mobile battery swapping equipment is parked at the charging station outside the tunnel. The driver of the mobile battery swapping equipment needs to monitor and manage the status of the charging battery in real time. When the battery is fully charged, the charging gun must be unplugged in time. When executing step 2, the user of the mobile battery swapping equipment needs to make sure that the battery to be transported is a fully charged battery 5.

[0045] It should be added that the number of batteries in an application scenario must be greater than the number of electric equipment, that is, spare batteries must be reserved so that when the batteries on the electric equipment are low, fully charged spare batteries can be replaced in time. The number of spare batteries depends on the number of operations, battery life, and average daily usage time of the electric equipment, and needs to be matched according to a specific construction scenario. Generally, when the number of electric equipment is N, the number of spare batteries is about 0.5*N, which can ensure that all electric equipment can operate uninterruptedly and for a long time.

[0046] Example 3

[0047] This embodiment provides that the present invention provides an in-tunnel electric equipment energy replenishment system based on a mobile battery exchange device, wherein the mobile battery exchange device comprises: a chassis; a bracket mechanism, arranged on the chassis, for accommodating at least two batteries; an arm system, arranged at the rear end of the chassis, for transporting batteries between the chassis and the electric equipment; a gripper system, arranged at the rear end of the arm system, for grabbing batteries; the energy replenishment system comprises: Battery exchange communication module: used to obtain battery exchange information of electric equipment in the tunnel, wherein the battery exchange information includes battery exchange demand and battery exchange location; Battery swapping path planning module: used to control the mobile battery swapping device with fully charged batteries on the bracket mechanism to travel to the battery swapping position where the electric equipment with battery swapping needs is located in the tunnel; Battery replacement operation module: used to control the coordinated operation of the mobile battery replacement equipment and the electric equipment, and replace the depleted battery in the battery box of the electric equipment with the fully charged battery on the bracket mechanism; Energy replenishment path planning module: used to control the mobile battery replacement equipment with low-power batteries on the bracket mechanism to travel to the preset energy replenishment station outside the tunnel; Battery charging module: used to control the mobile battery exchange equipment to send the low-power batteries on the bracket mechanism to the charging station for charging.

[0048] Example 4

[0049] This embodiment provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for replenishing energy for electric equipment in a tunnel based on a mobile battery exchange device as described in any step of Example 2 is implemented.

[0050] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0051] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0052] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0053] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0054] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A method for replenishing energy for electric equipment in a tunnel based on a mobile battery exchange device, the mobile battery exchange device comprising: Chassis; A bracket mechanism, disposed on the chassis, for accommodating at least two batteries; An arm system, disposed at the rear end of the chassis, for transporting batteries between the chassis and the electric device; A gripper system is provided at the rear end of the arm system and is used to grab the battery; the energy replenishment method is characterized by comprising: Obtaining battery replacement information of electric equipment in the tunnel, wherein the battery replacement information includes battery replacement demand and battery replacement location; Control the mobile battery-swapping device with fully-charged batteries on the bracket mechanism to travel to the battery-swapping position where the electric equipment in need of battery-swapping is located in the tunnel; Control the mobile battery exchange equipment to work in coordination with the electric equipment to replace the depleted battery in the battery box of the electric equipment with the fully charged battery on the bracket mechanism; Control the mobile battery replacement device carrying the low-power battery on the bracket mechanism to travel to a preset energy replenishment station outside the tunnel; Control the mobile battery exchange equipment to send the low-power batteries on the bracket mechanism to the energy charging station for charging.

2. The method for replenishing electric equipment in a tunnel based on a mobile battery replacement device according to claim 1 is characterized in that: The obtaining of the battery replacement information of the electric equipment in the tunnel includes: Establish a communication link between the mobile battery exchange equipment outside the tunnel and the electric equipment inside the tunnel; Control the electric device to send the battery replacement information through the communication link, and control the mobile battery replacement device to receive the battery replacement information.

3. The method for replenishing electric equipment in a tunnel based on a mobile battery replacement device according to claim 1 is characterized in that: The control bracket mechanism drives the mobile battery exchange device with a fully charged battery on it to the battery exchange position where the electric device with a battery exchange demand is located in the tunnel, including: Control the mobile battery exchange equipment to transfer the fully charged batteries in the charging station to the bracket mechanism; Planning a driving path of the mobile battery swapping device according to the battery swapping information, wherein the driving path includes at least one battery swapping location where an electric device with a battery swapping demand is located; The mobile battery exchange device is controlled to travel along the driving path and stop at the battery exchange position, and the mobile battery exchange device is aligned with the rear of the electric device.

4. The method for replenishing electric equipment in a tunnel based on a mobile battery replacement device according to claim 1, characterized in that: The controlling of the mobile battery exchange device and the electric device to cooperate with each other to replace the depleted battery in the battery box of the electric device with the fully charged battery on the bracket mechanism includes: according to the power on and off status of the electric device, information is exchanged between the electric device battery exchange controller and the mobile battery exchange device controller, controlling the unlocking / locking of the battery box of the electric device to cooperate with the mobile battery exchange device to perform the battery exchange operation, transferring the depleted battery in the battery box of the electric device to the bracket mechanism, and transferring the fully charged battery on the bracket mechanism to the battery box of the electric device.

5. The method for replenishing electric equipment in a tunnel based on a mobile battery replacement device according to claim 4 is characterized in that: When the electric device is powered on, the electric device battery replacement controller interacts with the mobile battery replacement device controller to control the unlocking / locking of the electric device battery box to cooperate with the mobile battery replacement device to perform the battery replacement operation, including: Send a battery replacement command to the depleted battery on the electric equipment through the electric equipment cab operation panel; Receive the battery replacement command through the electric equipment vehicle controller and perform high-voltage power reduction; Send an unlocking command to the electric equipment battery replacement controller through the electric equipment vehicle controller to control the battery box to unlock; After unlocking is completed, the unlocked status is fed back to the mobile battery swapping device through the electric equipment battery swapping controller; After receiving the unlocked signal, the battery swap operation is performed through the mobile battery swap device controller; After the battery replacement operation is completed, the electric equipment vehicle controller sends a locking command to the electric equipment battery replacement controller to control the battery box to lock; After locking is completed, the locked status is fed back to the mobile battery swapping device through the electric equipment battery swapping controller, and the battery swapping is completed.

6. The method for replenishing electric equipment in a tunnel based on a mobile battery replacement device according to claim 4 is characterized in that: When the electric device is in a power-off state, the electric device battery replacement controller interacts with the mobile battery replacement device controller to control the unlocking / locking of the electric device battery box to cooperate with the mobile battery replacement device to perform the battery replacement operation, including: Build a wireless local area network between the electric equipment battery replacement controller and the mobile battery replacement equipment controller; Sending an unlocking condition identification signal to a mobile battery swapping device controller via an electric device battery swapping controller; Receive the unlocking permission signal through the mobile battery swapping device controller, and send an unlocking instruction to the electric device battery swapping controller to control the battery box to unlock; After unlocking is completed, the unlocked status is fed back to the mobile battery swapping device through the electric equipment battery swapping controller; After receiving the unlocked signal, the battery swap operation is performed through the mobile battery swap device controller; After the battery swap operation is completed, the mobile battery swap device controller sends a locking command to the electric device battery swap controller to control the battery box to lock; After locking is completed, the locked status is fed back to the mobile battery swapping device through the electric equipment battery swapping controller, and the battery swapping is completed.

7. The method for replenishing electric equipment in a tunnel based on a mobile battery replacement device according to claim 5 or 6, characterized in that: The battery swapping operation is performed by using a mobile battery swapping device controller, including: The arm system and the gripper system in the transport state are controlled to rotate by the mobile battery exchange equipment controller, so that the arm system is located outside the end of the chassis, and the gripper system is located directly above the exhausted battery in the battery box of the electric equipment. The gripper system is controlled to grab the exhausted battery, and the arm system is controlled to lift the exhausted battery to be separated from the electric equipment. The arm system in the transport state is located inside the end of the chassis; The arm system and the gripper system are controlled to rotate by the mobile battery exchange equipment controller, so that the low-power battery is located directly above the empty battery position of the bracket mechanism and is suitable for being placed in the empty battery position of the bracket mechanism, and the gripper system is controlled to release the low-power battery to the empty battery position of the bracket mechanism; The mobile battery exchange equipment controller controls the rotation of the bracket mechanism in the transport state so that the fully charged battery on the bracket mechanism is located directly below the gripper system, controls the gripper system to grab the fully charged battery, and controls the arm system to lift the fully charged battery to detach from the bracket mechanism, wherein the width direction of the battery position of the bracket mechanism in the transport state is consistent with the vehicle length direction; The arm system and the gripper system are controlled to rotate by the mobile battery exchange equipment controller, so that the fully charged battery is located directly above the battery position in the battery box of the electric equipment and is adapted to be placed in the battery position in the battery box, and the gripper system is controlled to release the fully charged battery to the battery position in the battery box of the electric equipment; The mobile battery swapping equipment controller controls the arm system, gripper system and bracket mechanism to rotate back to the transport state, and the battery swapping operation is completed.

8. The method for replenishing electric equipment in a tunnel based on a mobile battery replacement device according to claim 1, characterized in that: The energy charging station is pre-arranged with a charger for charging the battery.

9. An in-tunnel electric equipment energy replenishment system based on a mobile power exchange device, the mobile power exchange device comprising: Chassis; A bracket mechanism, disposed on the chassis, for accommodating at least two batteries; An arm system, disposed at the rear end of the chassis, for transporting batteries between the chassis and the electric device; A gripper system is provided at the rear end of the arm system and is used to grab the battery; the energy replenishment system is characterized in that it includes: Battery exchange communication module: used to obtain battery exchange information of electric equipment in the tunnel, wherein the battery exchange information includes battery exchange demand and battery exchange location; Battery swapping path planning module: used to control the mobile battery swapping device with fully charged batteries on the bracket mechanism to travel to the battery swapping position where the electric equipment with battery swapping needs is located in the tunnel; Battery replacement operation module: used to control the coordinated operation of the mobile battery replacement equipment and the electric equipment, and replace the depleted battery in the battery box of the electric equipment with the fully charged battery on the bracket mechanism; Energy replenishment path planning module: used to control the mobile battery replacement equipment with low-power batteries on the bracket mechanism to travel to the preset energy replenishment station outside the tunnel; Battery charging module: used to control the mobile battery exchange equipment to send the low-power batteries on the bracket mechanism to the charging station for charging.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the method for recharging electric equipment in a tunnel based on a mobile battery exchange device as described in any one of claims 1 to 8 is implemented.

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